Extracting Feature Geometries for Localization of a Device

ABSTRACT

Systems, apparatuses, and methods are provided for developing a fingerprint database and extracting feature geometries for determining the geographic location of an end-user device. A device collects, or a processor receives, a depth map of a location in a path network. A physical structure is identified within the depth map. The depth map is divided, at the physical structure, into a horizontal plane at an elevation from the road level. A two-dimensional feature geometry is extracted from the horizontal plane of the depth map using a linear regression algorithm, a curvilinear regression algorithm, or a machine learning algorithm.

FIELD

The following disclosure relates to developing a fingerprint databaseand determining the geographic location of an end-user device (e.g.,vehicle, mobile phone, smart watch, etc.) using a multilaterationcalculation.

BACKGROUND

Vehicle localization using Global Positioning Systems (GPS), local areawireless technology (e.g., WiFi), and short-wavelength radio waves(e.g., Bluetooth) may be imprecise. In the case of GPS, multi-pathingcauses timing variations for signals received by the vehicle. In thecase of WiFi and Bluetooth, signal strengths are an unreliable means forlocalization due primarily to occlusion and lack of precision in thelocation of the transmitting stations in three-dimensional (3D) space.In such cases, the references upon which multilateration is performedare not precise enough to produce lane level, or in some case roadlevel, positioning.

SUMMARY

Systems, apparatuses, and methods are provided for developing afingerprint database and extracting feature geometries for determiningthe geographic location of a device. In one embodiment, the methodcomprises receiving a depth map of a location in a path network. Themethod further comprises identifying, using a processor, a physicalstructure within the depth map. The method further comprises dividingthe depth map, at the physical structure, into a horizontal plane at anelevation from a road level. The method further comprises extracting atwo-dimensional feature geometry from the horizontal plane using alinear regression algorithm, a curvilinear regression algorithm, or amachine learning algorithm.

In another embodiment, the method comprises collecting, by an end-userdevice, a depth map at a location in a path network. The method furthercomprises identifying, using a processor of the end-user device, aphysical structure within the depth map. The method further comprisesdividing the depth map, at the physical structure, into a horizontalplane at an elevation from a road level. The method further comprisesextracting a two-dimensional feature geometry from the horizontal planeusing a linear regression algorithm, a curvilinear regression algorithm,or a machine learning algorithm.

In yet another embodiment, the apparatus comprises at least oneprocessor and at least one memory including computer program code forone or more programs; the at least one memory and the computer programcode configured to, with the at least one processor, cause the apparatusto at least perform: (1) receive a depth map of a location in a pathnetwork; (2) identify a physical structure within the depth map; (3)divide the depth map, at the physical structure, into a horizontal planeat an elevation from a road level; and (4) extract a two-dimensionalfeature geometry from the horizontal plane using a linear regressionalgorithm, a curvilinear regression algorithm, or a machine learningalgorithm.

BRIEF DESCRIPTION OF THE DRAWINGS

Exemplary embodiments are described herein with reference to thefollowing drawings.

FIG. 1 illustrates an example of a depth map image with extractedhorizontal slices at multiple elevations, and identified two-dimensionalimages from the extracted slices.

FIG. 2 illustrates an example of an encoded fingerprint in a fingerprintdatabase.

FIG. 3 illustrates an example of a line feature geometry of the encodedfingerprint of FIG. 2.

FIG. 4 illustrates an example of an arc feature geometry of the encodedfingerprint of FIG. 2.

FIG. 5 illustrates an example of a spline feature geometry of theencoded fingerprint of FIG. 2.

FIG. 6 illustrates an example of a vehicle identifying and extractingfeature geometries surrounding the vehicle to determine the vehicle'sgeographic location.

FIGS. 7a and 7b illustrate an additional example of a device identifyingand extracting feature geometries and control points surrounding thedevice to determine the device's geographic location.

FIG. 8 illustrates another example of a multilateration process based onthree control points.

FIG. 9 illustrates an example flowchart for extracting a featuregeometry for developing a fingerprint database.

FIG. 10 illustrates an example flowchart for extracting a featuregeometry at a location using an end-user device.

FIG. 11 is a diagram of an exemplary geographic and/or navigation datasystem.

FIG. 12 illustrates an embodiment of components of a device used in theexemplary system of FIG. 11.

DETAILED DESCRIPTION

The location or positioning of an end-user device may be determinedthrough the derivation of coordinates from two-dimensional (2D) featuregeometries representing real objects in a path (e.g., road) network. Anend-user device may refer to a device operated or used by a consumer.Non-limiting examples of end-user devices, as used herein, includevehicles (e.g., cars, trucks, buses, trains, motorcycles, boats, ships),as well as portable electronic devices such as mobile phones, laptopcomputers with wireless capabilities, video recording devices, scanningdevices, messaging devices, personal digital assistants, and wearablecomputers (e.g., smart watches). Feature geometries may refer totwo-dimensional shapes such as lines, arcs, and splines (e.g.,B-splines) extracted from three-dimensional structures around thedevice. For example, the 2D feature geometries may be extracted fromthree-dimensional structures such as building facades, road signs,polls, plants (e.g., trees), or other non-transitory structures existingin the path network. Multiple feature geometries at a particular roadsegment may be combined together to provide one or more uniquefingerprints identifying the particular road segment from thesurrounding area.

In other words, the location of a device (e.g., vehicle) may bedetermined based on an identification of a fingerprint for the variousfeatures surrounding the device. The location may be determined inreal-time, wherein features identified by the device are compared with adatabase of the feature geometries/fingerprints. The precision of thedetermined location may be based on the location of the devices in thepath network and the method by which the devices are located.

Such a localization process may allow for improved positioning of thedevice over convention geo-positioning technologies such as GPS, WiFi,or Bluetooth. Furthermore, feature-based, visual positioning techniquesmay allow for positioning of a device in the absence of any availableconventional geo-positioning technologies (e.g., GPS). Additionally, thefeature-based positioning technique using simple 2D feature geometriesmay reduce overall computation costs associated with determining thelocation of the device in real-time. This eliminates the need for anexpensive graphics processing unit (GPU) to process imagery inreal-time, and allows for vehicles with low cost visualizationtechnology to utilize the proposed feature-based localization techniquesdescribed herein. Furthermore, more and more vehicles are being builtwith sophisticated viewing technology and could utilize the proposedgeoreferencing process.

As discussed herein, a database of two-dimensional feature geometriesmay be developed through a collection of depth maps produced by depthsensing devices (e.g., a high-precision Light Detection and Ranging(LIDAR) device). From the collected depth maps, feature geometries suchas buildings, traffic lights, stop signs, plants (e.g., trees), and roadproperties (e.g. width, number of lanes) may be extracted. The extractedfeatures may be represented or encoded in a separate database as afingerprint for a particular location. An end-user device (e.g.,vehicle) may determine its location based upon the device's ownidentification of feature geometries and comparison with the fingerprintdatabase of feature geometries, wherein the location is determined basedupon a matching of features or fingerprints.

Collection of Data

In certain embodiments, a database housing various feature geometriesfor a path network may be developed through the collection and analysisof data for the path network. The path network may be a road networkcomprising a selected number of road segments within a metropolitan areaor city. In some embodiments, the database may be developed for multipleroad segments in multiple metropolitan areas or cities.

As used herein, a “road” or “road segment” may refer to any travelinglane or pathway that may be capable of being monitored, or may becomecapable of being monitored in the future (e.g., a highway, city street,bus route, train route, walking/biking pathway, waterway).

In certain embodiments, the database is developed through the collectionof (1) three-dimensional data on the selected road segments within theroad network, and (2) location data (e.g., GPS data) associated with the3D data. The 3D data may be depth maps or point cloud data acquiredusing 3D optical distancing systems or intensity-based scanningtechniques. In certain embodiments, depth maps or point cloud data arecollected using a depth sensing device. The depth sensing device may beany depth sensing stereoscopic or stereo-camera (e.g., a LIDAR camera),a radio detection and ranging (RADAR) device, an ultrasound device, or astructure light camera. The depth sensing device may comprise a movingmono-camera configured to identify three-dimensional structures frommotion.

LIDAR, also known as LiDAR, Lidar, or other similar representations, mayalso be referred to as three-dimensional laser scanning or an opticaldistancing system, which employs one or more lasers or cameras tocollect data points representing an area, such as an area about a roador walkway.

The LIDAR camera in the data acquisition system may use ultraviolet,visible, or near-infrared light to image objects, targeting a wide rangeof materials, such as non-metallic objects, rocks, rain, chemicalcompounds, aerosols, clouds, and even single molecules. A narrowlaser-beam may map physical features with high resolution.

Software may generate a depth map or point cloud based on the measureddistance, the locations of the optical distancing system, which may beon a moving platform such as a car, and the angle of the laser. Otheroptical distancing systems include a stereoscopic camera, a time offlight infrared camera, and a structured light device. A LIDAR cameracollects and gathers data points in a point cloud in which each datapoint corresponds to a local coordinate, such as (x, y, z), and iseither on or off. Alternatively, the LIDAR data may be a grayscale pointcloud including an intensity (indicating reflectivity) for each datapoint, in a predetermined range of values (e.g., 0 to 255, 0 to 65536)with black at one end of the range and white at the other. The pointcloud may be stored in ASCII or LIDAR exchange format (e.g., theAmerican Society for Photogrammetry and Remote Sensing (ASPRS) .LAS fileformat). The one or more lasers may be in a near infrared spectrum (suchas about 700 nm to about 5000 nm or about 800 nm to about 2500 nm) orother light spectrum.

In certain embodiments, the LIDAR camera may be attached or otherwiseintegrated with a data collection device (e.g., vehicle). There may alsobe a positioning system integrated with the LIDAR vehicular system suchas a GPS to provide a base reference for the data acquired by the LIDARsystem. The mobility of a vehicular system may facilitate acquiring dataacross a large geographic area using established positions for referenceand integration of the acquired data into a point cloud representing thegeographic area.

In the development of a fingerprint database, the LIDAR data acquisitionsystem may be combined with a geographic positioning system (GPS) toprovide a base reference for the data acquired by the LIDAR system.Through the combination of the LIDAR system and the GPS, the 3D datacollected can be saved or encoded into a database with attributedlatitude, longitude, altitude, and elevation measurements.

The mobility of a vehicular system may facilitate acquiring data acrossa large geographic area using established positions for reference andintegration of the acquired data into a point cloud representing thegeographic area. In some embodiments, depth map or point cloud data maybe collected continuously as the data collection vehicle travels alongthe selected road segments within the path network. In otherembodiments, the data may be collected at predefined intervals along theroad segments (such as every 10 to 30 meters).

In certain embodiments, the data from one or more data collectionvehicles may be uploaded to a map developer database for futureanalysis. In some embodiments, the uploading process may be conductedafter the data collection vehicle(s) have completed their collection ofthe depth map or point cloud data. In other embodiments, the uploadingprocess may comprise transmitting data over a connected network to themap developer database as the data is collected.

Feature Extraction

Following collection and uploading of the depth map or point cloud datato the map developer database, the data may be analyzed for variousfeature geometries within the depth map or point cloud data. In otherwords, a computer algorithm may be run to search for specifictwo-dimensional features in the depth map data, and extract thosefeatures. The two-dimensional feature geometries may include lines, setsof connected lines or curves, arcs, and splines within the physicalstructures of the depth map. In certain embodiments, the physicalstructures comprise building facades, road signs, street lights, andplants (e.g., trees) of the point cloud data.

Two-dimensional feature geometries may be extracted from a depth map byidentifying the physical structures of the depth map, and dividing orslicing the depth map into one or more horizontal planes at differentelevations of the physical structure. The depth map data within eachhorizontal slice/segment may then be analyzed for certain geometries. Inthe dividing or slicing process, the depth map data is extracted fromthe defined elevation, as well as data that exists within a range aboveand below the defined elevation. For example, the extraction includes anaggregation of data within 0.1 meters, 0.2 meters, 0.5 meters, 1 meter,or 2 meters of the defined elevation. In other words, the horizontalslice or segment has a thickness of less than 0.1 meters, less than 0.2meters, less than 0.5 meters, less than 1 meter, less than 2 meters,0.1-2 meters, 0.1-1 meters, 0.1-0.5 meters, or 0.1-0.2 meters. In someembodiments, the depth map data within the range above and below thedefined elevation is merged or averaged together.

Analysis of the depth map data may be a dynamic or iterative process. Incertain embodiments, more than one horizontal plane is analyzed in orderto find a prominent or useful feature geometry within the depth map. Forexample, in certain embodiments, a first elevation is chosen, and thedepth map is sliced into a horizontal plane at the first elevation. Thisslicing process and analysis alleviates the need to perform a complexthree-dimensional feature recognition or classification for an entirebuilding or observed structure.

The horizontal plane is analyzed for prominent feature geometries suchas straight lines, sets of connected lines or curves, arcs, or splines.In some embodiments, the horizontal plane is analyzed for prominentfeature geometries such as sets of connected lines. For example, in thesets of connected lines may comprise two-dimensional shapes includingquadrilaterals such as squares and rectangles; or other polygons such astriangles, pentagons, hexagons, heptagons, octagons, nonagons, decagons,etc. In other embodiments, the horizontal plane may be analyzed forprominent connected curve shape geometries such as circles or ellipses.This slicing process and analysis alleviates the need to perform acomplex three-dimensional feature recognition or classification for anentire building or observed structure.

To the extent no useful features are identified in the extractedhorizontal plane at the first elevation, a second elevation may bechosen, wherein data is extracted at the second elevation and analyzed.The process may be repeated at multiple elevations until at least oneprominent or useful feature geometry is identified. In some embodiments,the process begins at a higher elevation from the road level and worksdown to the road in elevation increments (e.g., every 5 meters). Thebeginning elevation may be determined based upon provided cartographydata for the particular road segment area, wherein the approximateheight of a building along the road segment is known. Cartography datamay be provided to the map database from a separate source, and is notnecessarily compiled at the same time the data collection vehiclecompiles and reports LIDAR data to the database.

In certain embodiments, the extraction and analysis may be performed ata number of predefined elevations (e.g., every 5 meters from the roadlevel). The highest elevation from road level for each road segment inthe path network may be a fixed value (such as 50 meters or 100 metersabove the road level), or it may be a variable value based upon knowncartography data for each road segment location (e.g., the highestelevation analyzed for one road segment may be 20 meters above the roadlevel, as the highest building or structure at the road segment locationis 20 meters high). Following the extraction and analysis at themultiple elevations, at least a portion of the extracted geometricfeatures may be selected for storage in a fingerprint database. In someembodiments, the extracted features are sorted or ranked based upontheir shape, size, elevation, and variance/invariance. The determinationon the ranking or sorting of features is discussed in greater detailbelow.

Extraction of geometries for each horizontal slice or plane may beconducted using various algorithms, wherein the depth map data in theslice is converted into one or more two-dimensional geometries. Incertain embodiments the algorithm is a linear regression algorithm, acurvilinear regression algorithm, a machine learning algorithm, or acombination thereof. For example, to the extent a linear geometricfeature is observed in the depth map slice, a linear regressionalgorithm is used to extract the linear feature from the depth map sliceand convert the depth map data into a 2D line or set of connected lines.To the extent an arc or spline is observed in the depth map slice, acurvilinear regression algorithm is used to extract the arc or splinefeature from the depth map slice and convert the depth map data into a2D arc or spline. In some embodiments, more than one geometric featuremay be observed within the slice. In such cases, both linear regressionand curvilinear regression algorithms may be performed to extract thelinear and curvilinear features in the slice and convert the data into2D representations including lines, sets of connected lines or curves,arcs, splines, etc.

FIG. 1 provides one non-limiting example of a depth map image 10 havinghorizontal slices at different elevations. In this figure, twoelevations have been analyzed for feature geometries, depicted as afirst elevation 12 and a second elevation 14. Through linear regressionalgorithms, curvilinear regression algorithms, and/or machine learningalgorithms, features in the depth map data of the first elevation 12 areextracted and represented as a first 2D representation 16 including acombination of connected lines and an arc. In the second elevation 14,the extraction process has produced a second 2D representation 18 at thesecond elevation comprising two lines.

Encoding Feature Geometries in Fingerprint Database

In certain embodiments, the extracted feature geometries may begeoreferenced and encoded in a fingerprint database for future use. Thatis, a fingerprint database with the encoded feature geometries may beaccessed to assist in determining the location of a data collectiondevice (e.g., vehicle) in communication with the database (as discussedin greater detail below).

In certain embodiments, the extracted feature geometries may begeoreferenced with certain information, such as the geographic locations(e.g., latitude, longitude, elevation, altitude) of specific features orpoints of the geometries. These two-dimensional feature geometries maybe georeferenced to a map or geographic location using an algorithm thatmatches various points of the 2D geometries with location referenceinformation or values for one or more of the following: latitude,longitude, elevation from the road level, and altitude. This process ispossible when the depth sensing camera (e.g., LIDAR camera) conductingthe analysis and extracting is in communication with a data collectionvehicle having a known geographic location (e.g., using GPS or anothergeoreferencing apparatus). With a known vehicle location, and a knowndistance of the vehicle from the extracted geometries through the depthsensing system, geographic values may be assigned or referenced to theextracted geometries.

For example, when the feature geometry is a line or set of connectedlines, points along the line or set of connected lines (including theend points of the line or set of connected lines) may be georeferencedwith location reference information regarding the latitude, longitude,elevation above the road, and altitude of the line points. For arcgeometries, points along the arc may be georeferenced, therein providinginformation regarding the radius, latitude, longitude, elevation abovethe road, and altitude of the arc points. For splines, points along thespline may be georeferenced to provide information regarding the knots,latitude, longitude, elevation above the road, and altitude of thespline points.

Following georeferencing of the extracted feature geometries, thegeoreferenced 2D geometries may be encoded in fingerprint database. Incertain embodiments, the fingerprint database may store the featuregeometries based upon the location of the extraction. For example, thefeatures may be linked with a vehicle reference (such as the vehicle'sgeographic location at the time the feature geometry was identified andextracted.

FIGS. 2-5 depict an example of an encoding system for a fingerprintdatabase. As shown in FIG. 2, each fingerprint encoded in the databasecontains a list of feature geometries (such as line features, arcfeatures, and spline features). In certain embodiments, the fingerprintcomprises includes a map reference attribute, which specifies the linkin the reference map that corresponds to a vehicle reference where thefingerprint was derived. The map reference may comprise a linkidentifier and a longitudinal distance on the link.

Additionally, each fingerprint includes a vehicle reference thatprovides a three-dimensional reference point for a data collectiondevice or vehicle during the localization process (described below). Thereference point anchors all of the feature geometries extracted at thelocation, and facilitates the feature comparison process duringlocalization to account for the difference in focal points between thedata collection device (e.g., vehicle) and the vehiclecapturing/extracting the data. The vehicle reference describes thelatitude, longitude, and altitude locations from which the featuregeometries were extracted (such as the location of the contact point onthe ground of the rear tire at the time of extraction). The latitude,longitude, and altitude measurements may be described using the WorldGeodetic System (WGS), such as WGS 84.

Each fingerprint also includes a plurality of feature geometries, suchas line features, arc features, and spline features (depicted inexpanded detail in FIGS. 3-5). The feature geometries may be sorted orranked in order of the prominence of the factors, wherein featuregeometries at the top of the list have more prominent or identifiablefeatures for the geographic location than features at bottom of thelist. Methodologies for ranking feature geometries are described indetail below, and may be applied in the encoding of feature geometriesin the fingerprint database as well. In certain embodiments, the list offeature geometries comprises at least 5, at least 10, or at least 15different feature geometries for each location.

FIG. 3 depicts an encoded line feature in detail. As shown in thefigure, the line feature represents the 2D line geometry with twocontrol points (i.e., identifiable, extracted points on the 2Dgeometry). In one embodiment, the two control points for a line may bethe opposite ends of the line. The control points of the line share thesame elevation and altitude since the points have been extracted on thesame horizontal plane from the depth map. As such, the attributes forthe line feature geometry include a universal value for both theelevation and the altitude. Elevation may be expressed in meters abovethe vehicle reference. The separate latitude and longitude for eachcontrol point is also encoded for the line feature geometry, and may beexpressed in WGS 84 coordinates.

FIG. 4 depicts an encoded arc feature in detail. As shown in the figure,the arc feature represents the 2D arc geometry with two control pointsand a radius. In one embodiment, the two control points may be theopposite ends of the arc. The control points of the arc share the sameelevation and altitude since the points have been extracted on the samehorizontal plane from the depth map. As such, the attributes for the arcfeature geometry include a universal value for both the elevation andthe altitude. The separate latitude and longitude for each control pointis also encoded for the arc feature geometry, and may be expressed inWGS 84 coordinates.

FIG. 5 depicts an encoded spline feature in detail. As shown in thefigure, the spline feature represents the 2D spline geometry (e.g., aB-spline) with multiple control points and knots. The control points ofthe spline share the same elevation and altitude since the points havebeen extracted on the same horizontal plane from the depth map. As such,the attributes for the spline feature geometry include a universal valuefor both the elevation and the altitude. The separate latitude andlongitude for each control point is also encoded for the spline featuregeometry, and may be expressed in WGS 84 coordinates.

Determining an End-User Device Location using Fingerprint Database

Using the established, encoded fingerprint database for the pathnetwork, an end-user device (e.g., vehicle, mobile phone, smart watch,etc.) equipped with depth sensing camera technology (e.g., a LIDARcamera) may be able to determine its location within the path network.The end-user device may determine its location based upon the device'sown identification of feature geometries surrounding the end-userdevice/vehicle, and comparing certain feature geometries with theestablished fingerprint database (discussed above), wherein the locationis determined based upon a matching of features or fingerprints to thedatabase. In some embodiments, the device's location may be determinedthrough a combination of identifying feature geometries and GPS data. Inother embodiments, in the absence of any GPS data, the location of thedevice is determined solely through identification of the featuregeometries.

The end-user device (e.g., vehicle, mobile phone, smart watch, etc.)equipped with the depth sensing device (e.g., LIDAR camera) may extractfeature geometries in a similar manner described above for the datacollection device in the construction of the fingerprint database todetermine the location of the device. A number of extracted featuregeometries may be selected to define a fingerprint, and the definedfingerprint may be matched to the fingerprint database to determine thelocation. In some embodiments, the end-user device may compute variousparameters to orient the device's collected depth map with thefingerprint database before or in conjunction with the extractionprocess. This may assist in determining not only the end-user device'sgeographic location, but the orientation of the device at the location.

In an effort to identify the device's location in real-time, thedetermination of fingerprint for the device may be an abbreviatedprocess (in comparison to construction of the fingerprint database),wherein only a handful of feature geometries are selected and comparedwith the fingerprint database. For instance, each geographic locationmay have several thousand feature geometries stored in the fingerprintdatabase. In other words, it may be inefficient for the end-user device(e.g., vehicle) to analyze or consider all of the 2D feature geometriesavailable for localization.

The geometries are selected based upon two main factors (described ingreater detail below). The first factor is the ranking of the featuregeometries, and the second factor is the geometric dilution of precision(GDOP) of the feature geometries. In certain embodiments, thelocalization process for a device in a path network comprises (1)identifying feature geometries surrounding the device, (2) determiningthe properties (e.g., shape, size, elevation, variance) and location(GDOP) of each feature geometry, (3) ranking the feature geometriesaccording to their properties, and (4) selecting a fingerprint offeature geometries that are highly distributed (high GDOP) and have highranking values.

Factor 1: GDOP of the Feature Geometries

The GDOP represents the geographic distribution of structures or featuregeometries around the vehicle. In other words, the relationship betweenthe location of one selected feature geometry from each additionalfeature geometry is a factor. In certain embodiments, the best orhighest GDOP is provided by the most evenly distributed structures orfeature geometries surrounding the device. In some embodiments, the bestor highest GDOP is determined based on the distribution of thestructures as plotted in an x-y plane (i.e., ignoring the elevation ofeach structure in the z-axis).

For example, if there are three structures surrounding the vehicle, thebest GDOP may occur where the structures are separated or spaced 120degrees apart from each other. In other words, the first structure maybe located in the x-y plane at 0 degrees from the vehicle (e.g., asmeasured from the direction of travel or the direction of travel of theroad), the second structure may be located at 120 degrees from thevehicle, and the third structure may be located at 240 degrees from thevehicle.

If there are four structures surrounding the vehicle, the best GDOPwould occur where each structure is spaced 90 degrees apart from eachother. If there are five structures, the best GDOP would occur whereeach structure is 72 degrees apart from each other, and so on.

Factor 2: Ranking of Feature Geometries

Regarding the second factor, the feature geometries (within each sectoror within the overall depth map) may be compared or ranked based uponone or more of the following properties: (1) the shape of the feature,(2) the size of the feature, (3) the elevation of the feature, and (4)the variance (or invariance) of the feature (i.e., how much does theshape of the feature change over time, or whether the feature is presentat all at certain times). In some embodiments, additional factors may beconsidered, such as the color of the feature geometry or fingerprint.Identification of color may require additional equipment attached orotherwise connected to the data collection or end-user device (e.g.,vehicle), as a LIDAR camera does not identify color.

Regarding shape properties, feature geometries with simplistic shapessuch as lines, arcs, and splines may be ranked higher than other morecomplex shapes because the simplicity of the lines, arcs, and splinesallow for more efficient processing. In other words, as depicted in FIG.6, feature geometries representing straight lines on a building at 20meters and 50 meters elevation may be simpler than feature geometriesthat capture branches of a tree. Therefore, feature geometriesrepresented by the lines on the building may be ranked higher thanfeature geometries associated with the branches of the tree.

Regarding size properties, feature geometries that are larger in sizemay be ranked higher than feature geometries that are smaller in size.For example, in FIG. 6, the feature geometries on the left building at20 meters and 50 meters would be ranked higher than the feature geometryon the right building at 20 meters.

Regarding elevation properties, feature geometries that are at higherelevations from the road level may be ranked higher than featuregeometries at lower elevations from the road level. In other words, theheight of a building may assist in identifying a particular location,and therefore higher elevation feature geometries for each location maybe ranked higher. For example, in FIG. 6, the feature geometry at 50meters elevation may be ranked higher than the feature geometries at 20meters elevation. In certain embodiments, the location within the pathnetwork may be devoid of prominent features at higher elevations, wherefeatures at lower elevations are then selected. This may include treesor other seasonal features.

Regarding variance properties, feature geometries that are less variantare given high ranking. Variance of a feature geometry may take theseasonality of the feature into consideration. For example, in the fallor winter, tree leaves may disappear to expose bare branches to theLIDAR camera. The tree leaves may then reemerge in the spring or summer.Therefore, branches of trees, leaves, etc. are variant based upon theseasonality of the geometries, and therefore may be assigned less weightthan more invariant feature geometries, such as a straight line of abuilding or the trunk of the tree. In some embodiments, multiplefingerprints may be stored in the fingerprint database to accuratelyrepresent variant features during different seasons. Variance of afeature geometry may also take into account whether the feature geometryis present at certain times and absent at other times (i.e.,non-stationary objects). For example, a LIDAR camera mounted to avehicle may identify another vehicle (such as a large truck) travelingalong the road segment in an adjacent lane. This feature geometry may begiven a very low ranking due to its non-stationary nature.

Regarding color properties, feature geometries that include bright ornon-neutral colors (such as red, pink, purple, orange, green, blue, oryellow) may be given a higher rank than a neutral color (such as grey,black, brown, beige, or white). For example, a bright or non-neutralcolor in a city or metropolitan area may represent the color of a uniquebuilding or structure in contrast to the majority of steel constructionpresent within the city or metropolitan area. Through the identificationof such a unique building color, the device may be able to identify itslocation within the path network of the city much more easily.

In certain embodiments, the feature geometries are ranked based upon acombination of the properties discussed above. The combination maycomprise a weighted approach, wherein each property is given a weightper location and time. In other words, the weight for each property mayvary spatially and temporally (i.e., the weights may be dynamic).

In one embodiment, the overall ranking value for a particular featuregeometry is calculated using the rank value of shape of the feature(“Shape”), the rank value of the size of the feature (“Size”), the rankvalue of the elevation of the feature (“Elevation”), and the rank valueof the variance of the feature (“Variance”). The overall ranking valuefor each feature geometry may be calculated using the equation below:

Ranking Value=W1×Shape+W2×Size+W3×Elevation+W4×Variance

wherein W1+W2+W3+W4=1.

In certain embodiments, W1, W2, W3, and W4 have equal weights,indicating that the importance of each property is equal. In otherembodiments, W2 (associated with the size of the feature geometry)and/or W3 (associated with the elevation of the geometry) are given thehigher weight than W1 (shape) and/or W4 (variance). In certainembodiment, W2 is given the highest weight of the four factors. In otherembodiments, W3 is given the highest weight of the four factors. In oneparticular embodiment, the order of weights, from highest to lowest is:W3, W2, W1, and W4.

In one example, four feature geometries are compared with each otherbased on the four factors. In this example, each factor is given thesame weight (W1=W2=W3=W4=0.25). The factors are defined with Booleanvalues of true or false, wherein true=1 and false=0. True values mayrepresent high ranking properties, such as a geometry with a sizegreater than 10 meters in length, an elevation greater than 10 metersfrom the road level, a shape that is a line, set of connected lines orcurves, arc, or spline, or an invariant geometry. False values mayrepresent low rank properties, such as a geometry with a size less than10 meters in length, an elevation less than 10 meters from the roadlevel, a shape that is more complex than a line, set of connected linesor curves, arc, or spline, or a variant geometry. The ranking value isdetermined for each feature, and an overall rank is determined based onthe ranking values. The results of the prophetic example are shown inthe table below.

TABLE Ranking Feature Geometries Ranking Final Name Shape Size ElevationVariance Value Rank Feature 1 True True True True 1.0 1 Feature 2 FalseTrue False False 0.25 4 Feature 3 False True True False 0.50 3 Feature 4True True False True 0.75 2

In other embodiments, the feature geometries may be ranked using numericvalues in combination with, or alternatively from Boolean values. Forexample, values used to sort the features may include the actual lengthor size of each feature or the elevation of each feature from the roadlevel, while the shape of each feature or the variance of each structuremay be defined using a Boolean true or false characteristic.

Combination of GDOP and Feature Rankings

In certain embodiments, a fingerprint comprising multiple featuregeometries may be through the combination of feature geometries fromvarious positions or zones surrounding the vehicle. In some embodiments,the process comprises selecting feature geometries that are both highlydistributed (i.e., have a high GDOP) and also have high ranking values.In certain embodiments, the process may comprise dividing a depth mapinto multiple sections or zones (e.g., at least 3, 4, or 5 sections orzones), wherein structures are identified in each section of the depthmap and feature geometries within those structures are ranked againsteach other. In certain embodiments, each section or zone comprises anequal volume of the depth map. The overall fingerprint comprisesselecting the highest ranking feature geometry within each section ofthe depth map. In some embodiments, to the extent no structure isidentified within a section of the depth map, additional structures(i.e., more than one structure) or additional feature geometries withina single structure may be identified in a neighboring section.

In certain embodiments, the process selects the top number of featuregeometries to be considered for determining the device's location. Insome embodiments, the selection comprises at least 2, at least 3, atleast 5, at least 10, or at least 15 feature geometries.

Determining Positioning in Path Network

Following the end-user device's or vehicle's selection of a fingerprintcomprising a plurality of feature geometries, the device may transmitthe fingerprint data to the fingerprint database over a connectednetwork. The fingerprint database may then compare the transmittedfeature geometries with its stored feature geometry data.

In the comparison process, based on the uniqueness of the featuregeometries selected and transmitted, the database is able to match theselected and transmitted feature geometries with feature geometriesstored in the fingerprint database. Through this matching process, thefingerprint database transmits location data of the feature geometriesback to the device. This location data may include the encoded data ofthe feature geometries (discussed above), such as control point data forthe feature geometries. In other words, transmission of the encoded datafor a control point includes the transmission of the latitude,longitude, and altitude of the control point.

Using the transmitted control point data, and knowing the device'smeasured distance from each control point, the geographic location ofthe device may be determined. Additionally, in some embodiments, thedevice's geographic orientation (e.g., direction of travel) may bedetermined. That is, when matching feature geometries, and knowing thepositioning of the feature geometries relative to the depth sensingdevice's positioning, an orientation may be determined that best alignsthe feature geometries to indicate the device's and depth sensingdevice's orientation (e.g. heading).

In certain embodiments, the geographic location is determined through amultilateration process, using the transmitted control point data andmeasured distances from the control points (i.e., the radii from thecontrol points).

In certain embodiments, the geographic location of the device isdetermined through the multilateration process with at least 3 controlpoints (and the associated latitude, longitude, and altitude dataassociated with each control point). In other embodiments, at least 4control points are used. In yet other embodiments, 5 or more controlpoints are used to calculate the geographic location of the car. Inalternative embodiments, only 2 control points may be used inconjunction with GPS data to determine the geographic location of theend-user device or vehicle.

The geographic location of the device may be calculated within 1 meterof its ground truth or true location (i.e., the actuallatitude/longitude, and optionally, altitude, coordinates for thedevice). In some embodiments, the geographic location may be calculatedwithin 0.5 meters, 0.1 meters, 50 centimeters, 20 centimeters, 10centimeters, 5 centimeters, 3 centimeters, 2 centimeters, or 1centimeter of the ground truth or true location.

FIG. 6 provides one non-limiting example of the multilateration process.In this example, a vehicle 20 (i.e., a processor of the vehicle) hasidentified and selected four feature geometries surrounding the vehicleto represent a fingerprint for the location. That is, the vehicle 20 hasidentified and selected two straight line feature geometries on a firstbuilding 24, the feature geometries appearing at 20 meters and 50 meterselevation above the road level. The vehicle 20 has also identified andselected an additional straight line feature geometry appearing on asecond building 26 at 20 meters elevation. Additionally, the vehicle 20has identified and selected a feature geometry for a traffic light pole28 at 2 meters elevation.

After transmitting and matching these feature geometries with thefingerprint database, the fingerprint database has returned controlpoint data for each of these geometries. For example, as shown in FIG.6, the control points are identified as the end points of the straightlines 22 a, 22 b, 22 c, 22 d, 22 f, and 22 g, as well as a single point22 e representing the traffic light pole. Each of the control points 22a-22 g includes latitude, longitude, and altitude information. Inconjunction with identified distances between the vehicle 20 and eachcontrol point, this control point information may be used to determinethe location of the vehicle 20 through a multilateration calculation.

FIGS. 7a and 7b provide another example of this process, wherein avehicle's location is determined through the extraction of featuregeometries, matching of geometries with a fingerprint database, andmultilateration process. For example, in FIG. 7a , four straight linefeatures are extracted from three buildings 32, 34, and 36 around thevehicle. Through a matching process with the fingerprint database,control point information for the feature geometries is relayed back tothe vehicle for processing. As shown in FIG. 7b , these four straightline features contain seven control points, wherein d1-d7 depict theidentified distance from the vehicle to each control point. Using thesedistances and the control point information (e.g., the latitude,longitude, and altitude), the geographic location of the vehicle isdetermined.

FIG. 8 provides another example of a multilateration process based onthree control points P1, P2, P3. The geographic coordinates for thethree control points are identified as (0,0), (d,0), and (i,j). Thedistances from the vehicle to the control points are identified by radiir1, r2, r3. Based on these known distances, and the geographic locationsof the control points from the fingerprint database, the vehicle'sapproximate geographic location is calculated. For example, in thiscase, the x, y, and z coordinates for the location of the vehicle may becalculated using the following equations:

$x = {{\frac{r_{1}^{2} - r_{2}^{2} + d^{2}}{2d}.y} = {\frac{r_{1}^{2} - r_{2}^{2} - x^{2} + \left( {x - i} \right)^{2} + j^{2}}{2j} = {{\frac{r_{1}^{2} - r_{2}^{2} + i^{2} + j^{2}}{2j} - {\frac{i}{j}{x.z}}} = {{\pm \left. \sqrt{}r_{1}^{2} \right.} - x^{2} - {y^{2}.}}}}}$

As depicted in FIG. 8, the approximate location is within theintersection of the three spheres.

In some embodiments, such as in cases of autonomous or HAD vehicles,following the processing and determination of a vehicle's geographiclocation or orientation, the vehicle may process the reported data andmake a decision on whether to alert the operator or take action. Incertain embodiments, a navigation device in the vehicle or anothercomputer system in communication with the navigation device may includeinstructions for routing the vehicle or generate driving commands forsteering the vehicle, shifting gears, increasing and decreasing thethrottle, and braking based on the reported location or orientationdata.

Flowchart Embodiments

FIG. 9 illustrates an example flowchart for extracting featuregeometries for developing a fingerprint database. The process of theflowchart may be performed by the navigation data system 100 or device201 described and shown in FIGS. 11 and 12. Alternatively, anotherdevice may be configured to perform one or more of the following acts.Additional, fewer, or different acts may be included.

At act S101, a depth map is received for a location in the path network.Depth maps may be collected using depth sensing devices such as a LIDARcamera. The depth map may be saved or transmitted over a connectednetwork to a processor for further analysis.

At act S103, a physical structure within the depth map is identifiedusing a processor, either attached to the data collection device (e.g.,vehicle) collecting the depth map data or a separate processorassociated with an external map database. Examples of physicalstructures include building facades, road signs, polls, plants (e.g.,trees), or other non-transitory structures existing in the path network.

At act S105, at the physical structure, the depth map is divided intoone or more horizontal planes or slices at one or more elevations fromthe road level. In the dividing or slicing process, the depth map datais identified at a defined, selected elevation, as well as data thatexists within a range above and below the selected elevation. Forexample, the horizontal plane may include an aggregation of data within0.1 meters, 0.2 meters, 0.5 meters, 1 meter, or 2 meters of the definedelevation.

At act S107, a two-dimensional feature geometry is extracted from thehorizontal plane using a linear regression algorithm, a curvilinearregression algorithm, or a machine learning algorithm, wherein the depthmap data in the slice is converted into one or more two-dimensionalgeometries such as lines, arcs, or splines.

FIG. 10 illustrates an example flowchart for extracting featuregeometries using an end-user device. The process of the flowchart may beperformed by the navigation data system 100 or device 201 described andshown in FIGS. 11 and 12. Alternatively, another device may beconfigured to perform one or more of the following acts. Additional,fewer, or different acts may be included.

At act S201, a depth map is collected by an end-user device at alocation in the path network. The end-user device may be a vehicle,mobile phone, or smart watch configured with a depth sensing camera. Atact S203, a physical structure within the depth map is identified usinga processor attached to the end-user device (e.g., vehicle) collectingthe depth map data. At act S205, at the physical structure, the depthmap is divided into one or more horizontal planes or slices at one ormore elevations from the road level. At act S207, a two-dimensionalfeature geometry is extracted from the horizontal plane using a linearregression algorithm, a curvilinear regression algorithm, or a machinelearning algorithm, wherein the depth map data in the slice is convertedinto one or more two-dimensional geometries such as a line, set ofconnected lines or curves, arc, or spline.

Navigation and Network System

FIG. 11 depicts one embodiment of a geographic and/or navigation datasystem 100 useful for collecting depth map data or determining adevice's location in a path network. The geographic data or navigationsystem 100 includes, but is not limited to, a data collection orend-user device 104 travelling on a path network 108 in a geographicregion 112, a device 116, a processing device 128, a workstation orcomputer 132, and/or a database 136. Additional, fewer, or differentcomponents may be provided. For example, a proxy server, a name server,a map server, a cache server or cache network, a router, a switch orintelligent switch, additional computers or workstations, a userinterface, administrative components, such as an administrativeworkstation, a gateway device, a backbone, ports, network connections,and/or network interfaces may be provided. While the components in FIG.11 are shown as separate from one another, one or more of thesecomponents may be combined.

The data collection or end-user device 104 is a vehicle, such as a car,truck, motorcycle, bicycle, Segway, or other transportation device ormechanical device used to move on the path network 108. Alternatively,the data collection or end-user device 104 may represent a pedestrian,such as a human being or animal, that walks or moves along the pathnetwork 108. The path network 108 is a road network and/or a collectionof other pathways. For example, the path network 108 is a road networkmade up of various roads. The roads may be used to drive vehicles on,such as local and neighborhood streets as well as highways. Also,instead of or in addition to traditional streets, the path network 108may include bicycle roads or paths, walking paths, or other travelpaths. Alternatively, the path network 108 may be an open area spacewith no specific paths or travel constraints. The path network 108 is inthe geographic region 112, such as a city, a suburb, a state, a country,and/or other geographic region.

In certain embodiments, the data collection or end-user device 104 is anautonomous vehicle or a highly automated driving (HAD) vehicle. Asdescribed herein, an “autonomous vehicle” may refer to a self-driving ordriverless mode in which no passengers are required to be on board tooperate the vehicle. An autonomous vehicle may be referred to as a robotvehicle or an automated vehicle. The autonomous vehicle may includepassengers, but no driver is necessary. These autonomous vehicles maypark themselves or move cargo between locations without a humanoperator. Autonomous vehicles may include multiple modes and transitionbetween the modes.

As described herein, a “highly automated driving (HAD) vehicle” mayrefer to a vehicle that does not completely replace the human operator.Instead, in a highly automated driving mode, the vehicle may performsome driving functions and the human operator may perform some drivingfunctions. Vehicles may also be driven in a manual mode in which thehuman operator exercises a degree of control over the movement of thevehicle. The vehicles may also include a completely driverless mode.Other levels of automation are possible.

The data collection or end-user device 104 travels along or moves aboutthe path network 108 to collect data. A supporting device or housing 116is attached or connected with or carried by the device 104. Thesupporting housing 116 may be or may include equipment to collect datarepresenting an area about or around a road or path or other area. Forexample, the collected data may be laser, LIDAR, imagery, and/orvideo/camera data (such as in the visible spectrum or other spectrum).Other data such as location data, GPS data, and/or other geographic datamay be collected.

In one embodiment, the supporting housing 116 is a housing or containerthat is attached to or carried by a pedestrian (the data collection orend-user device 104), and as the pedestrian is on and/or moving on apath, sidewalk, or other area, equipment, such as a LIDAR system and/orcamera, in the supporting housing 116 collects data. In anotherembodiment, the supporting housing 116 is a housing or container that isattached to a vehicle and, as the vehicle is on and/or moving on a roador path, equipment, such as a LIDAR device and/or camera, in thesupporting housing 116 collects or gathers data corresponding to thesurrounding area. Alternatively, the supporting housing 116 may be theLIDAR device or camera device itself or parts thereof. The supportinghousing 116 may be positioned at a backend of a device (e.g., vehicle)and may be angled to enhance collection. In other embodiments, thesupporting housing 116 may be positioned any place on a vehicle,pedestrian, or device and in any direction.

The collected data is stored on one or more non-transitorycomputer-readable media 120, such as a CD-ROM, DVD, flash drive, harddrive, or other tangible media suitable to store data. Different typesof data may be stored on the same medium 120. Alternatively, separatenon-transitory media 120 may be used to store separate or differenttypes of data. In one embodiment, LIDAR or laser data, photographs (suchas digital or electronic photographs), video images, and/or other imagedata collected by the device 104 and/or the supporting housing 116 arestored in one or more non-transitory media 120. Alternatively, thenon-transitory media 120 may be signals carrying or having data. Thecollected LIDAR or image data may represent areas or regions about oraround a path, road, or other area. The collected laser or LIDAR dataand/or images may include geographic features, such as sky features,terrain or surrounding features, roads or paths (such as sidewalks),road or path markings (such as cross-walks or lane markings), road orpath signs, points-of-interest (“POIs”) such as buildings, parks,museums, etc., and/or other features or objects.

The collected data, via one or more non-transitory media 120, is sent toa map, geographic, and/or navigation data developer 124, such as HERE orNokia Corporation. For example, a non-transitory medium 120 may bemailed to or brought to the map developer 124. Alternatively, some orall of the collected data may be transmitted to the map developer 124via a wireless and/or wired network. For example, the network mayinclude the Internet, an intranet, a local area network (“LAN”), a widearea network (“WAN”), a virtual private network (“VPN”), a servernetwork, a cellular network, a satellite network, a broadcastingnetwork, a wireless or wired connection, and/or any known or futurenetwork or connection. The term “map developer” may also includethird-party contractors.

The processing device 128 maintained by the map developer 124 receivesthe collected data. The processing device 128 is one or more servers,computers (such as a desktop tower or a laptop processing unit),processors, and/or other electronic processing systems or devices. Theprocessing device 128 includes, but is not limited to, a processor 140,a memory 144, and an image software application 148. Additional, fewer,or different components may be provided.

The processing device 128 may include or be in communication with theworkstation or computer 132. For example, the workstation 132 is a userinterface, electronic console, and/or computer with one or more inputdevices that may be used to access, control, and/or communicate with theprocessing device 128 or components thereof.

The processor 140 is a general processor, application-specificintegrated circuit (“ASIC”), digital signal processor, fieldprogrammable gate array (“FPGA”), digital circuit, analog circuit, orcombination thereof. In one embodiment, the processor 140 is one or moreprocessors operable to control and/or communicate with the variouselectronics and logic of the processing device 128. The memory 144 isany known or future storage device. The memory 144 is a non-volatileand/or volatile memory, such as a Random Access Memory “RAM”(electronic), a Read-Only Memory “ROM” (electronic), or an ErasableProgrammable Read-Only Memory (EPROM or Flash memory). A memory networkmay be provided. The memory 144 may be part of the processor 140. Thememory 144 is operable or configured to store laser, LIDAR, and/or imagedata or other data.

The processor 140 or other processor is configured or adapted to executethe image software application 148, which may be stored in the memory144 or other memory. For example, the image software application 148generates a multi-layered image (such as a two-dimensional scalablevector graphics (“SVG”) multi-layered image) based on model data, suchas three-dimensional model data corresponding to a geographic area. Inone embodiment, the application 148 identifies and/or receivesthree-dimensional model data, such as collected three-dimensional LIDARpoint cloud data, and performs processes or rendering sequences, whichare discussed in detail below, to generate a multi-layered graphicsimage of a geographic area. The generated multi-layered graphics imagemay be used in navigation or geographic systems as well as in a varietyof user interfaces, devices, or systems. Also, the generatedmulti-layered graphics image may be provided to developers of suchsystems and/or devices for configuration purposes.

In one embodiment, one or more generated multi-layered graphics imagesare stored, linked, indexed, and/or associated with or in the database136, which is in communication with the processing device 128.Alternatively, one or more generated multi-layered graphics images arestored in one or more separate or different databases that may or maynot be associated with the database 136 or data thereof. In oneembodiment, the geographic database 136 includes data used fornavigation-related and/or geographic-related services. For example, thegeographic database 136 contains road segment/link and node data recordsthat represent a road network, such as the path network 108. A noderepresents an end point of a road segment and/or intersection points.The road segments and nodes may be associated with attributes, such asgeographic coordinates, street names, address ranges, speed limits, turnrestrictions at intersections, and other vehicle navigation attributes,as well as POIs, such as gasoline stations, hotels, restaurants,museums, stadiums, offices, automobile dealerships, auto repair shops,buildings, stores, etc. Alternatively, the geographic database 136contains path segment/link and node data records or other data thatrepresent pedestrian paths in addition to or instead of the vehicle roadrecord data.

The geographic database 136 may be a master geographic database that isstored in a format that facilitates updating, maintenance, anddevelopment. For example, the master geographic database 136 or data inthe master geographic database 136 is in an Oracle spatial format, suchas for development or production purposes. The Oracle spatial format ordevelopment/production database may be compiled into a delivery format,such as a GDF format.

The data in the production and/or delivery formats may be compiled orfurther compiled to form geographic database products or databases 152,which may be used in end user navigation devices or systems or othersystems or devices. For example, a customer of the map developer 124(such as a developer of navigation devices or systems) may receivegenerated multi-layered graphics images as well as other geographic datain a delivery format and then compile and/or configure such data for enduser devices. In one embodiment, geographic data is compiled (such asinto a PSF format) to organize and/or configure the data (e.g.,segment/link, node, multi-layered graphics image, and/or other data orattributes) for performing navigation-related functions and/or servicessuch as route calculation, route guidance, map display, speedcalculation, distance and travel time functions, and other functions, bya navigation device. The navigation-related functions may correspond tovehicle navigation, pedestrian navigation, or other types of navigation.

FIG. 12 illustrates an embodiment of components of a device 201. Forexample, the device 201 may be an embodiment of the data collection orend-user device 104, such as a vehicle, or may be similar to thesupporting device 116. In one embodiment, the device 201 is a support orhousing that includes equipment to collect data. For example, the device201 is removably or integrally attached or connected with a vehicle. Thedevice 201 is positioned at a top backend of the vehicle. Alternatively,the device 201 may be positioned on or in any part of the vehicle at anyangle. In another embodiment, the device 201 is attached to or carriedby a pedestrian. For example, the device 201 may be a LIDAR device orother device for collecting three-dimensional data.

The device 201 includes, but is not limited to, a processor 205, amemory 209, a positioning system 213, a data collection or end-userdevice 217, and a camera or camera device 221. Additional, fewer, ordifferent components may be provided. For example, an input device maybe provided. The input device may be one or more buttons, keypad,keyboard, mouse, stylist pen, trackball, rocker switch, touch pad, voicerecognition circuit, or other device or component for controlling orinputting data in one or more of the components of the device 201. Whilethe components in FIG. 12 are shown as separate from one another, one ormore of these components may be combined. Also, some of the componentsmay be provided outside of the device 201. For example, if the device201 is a housing attached to a vehicle, the positioning system 213, theprocessor 205, the memory 209, an input device, and/or other componentsmay be in the vehicle or on another part of the vehicle while the datacollection or end-user device 217 and the camera 221 are in the device201. The data collection or end-user device 217 and the camera 221 mayalso be separated into different enclosures or supports.

The processor 205 is similar to or different than the processor 140. Theprocessor 205 is configured to operate the collection equipment, such asthe positioning system 213, the data collection or end-user device 217,and the camera system 221. For example, the processor 205 sends commandsto the various collection devices to collect data and synchronizes ormanages the different components. Also, the processor 205 is configuredto store data from the collection devices into the memory 209. Thememory 209 is similar to or different than the memory 144. The memory209 is operable or configured to store collected light, laser, LIDAR,image, and/or position data or other data. The memory 209 may be part ofthe non-transitory computer-readable medium 120 or may be a separatememory.

The positioning system 213 is a GPS system, one or more mechanicaland/or electrical sensors, one or more gyroscopes, a local positioningsystem, one or more direction sensors, or other system or device forproviding position data, such as location data (e.g., longitude,latitude, and/or altitude) and/or direction data, of the device 201,components thereof, or an attached device, such as a vehicle.

The camera 221 is one or more cameras used for taking pictures or videosof a surrounding area. For example, the camera system 221 includes avideo camera that records video data (such as in the visible lightspectrum) representing geographic features of and about a road or pathas a vehicle drives along the road or path. The camera 221 may alsocapture still photographs separate from the video data. The camera 221is able to capture different colors and associated text of geographicfeatures.

The data collection or end-user device 217 comprises a light datacollection device. For example the device or system 217 may include alight source and a light receiver. In one embodiment, the datacollection or end-user device 217 comprises a LIDAR device or sensor, alaser device, and/or other device that collects data points, such asthree-dimensional data, by transmitting and receiving light.

In the above described embodiments, the communication network mayinclude wired networks, wireless networks, or combinations thereof. Thewireless network may be a cellular telephone network, an 802.11, 802.16,802.20, or WiMax network. Further, the network may be a public network,such as the Internet, a private network, such as an intranet, orcombinations thereof, and may utilize a variety of networking protocolsnow available or later developed including, but not limited to TCP/IPbased networking protocols.

While the non-transitory computer-readable medium is described to be asingle medium, the term “computer-readable medium” includes a singlemedium or multiple media, such as a centralized or distributed database,and/or associated caches and servers that store one or more sets ofinstructions. The term “computer-readable medium” shall also include anymedium that is capable of storing, encoding or carrying a set ofinstructions for execution by a processor or that cause a computersystem to perform any one or more of the methods or operations disclosedherein.

In a particular non-limiting, exemplary embodiment, thecomputer-readable medium can include a solid-state memory such as amemory card or other package that houses one or more non-volatileread-only memories. Further, the computer-readable medium can be arandom access memory or other volatile re-writable memory. Additionally,the computer-readable medium can include a magneto-optical or opticalmedium, such as a disk or tapes or other storage device to capturecarrier wave signals such as a signal communicated over a transmissionmedium. A digital file attachment to an e-mail or other self-containedinformation archive or set of archives may be considered a distributionmedium that is a tangible storage medium. Accordingly, the disclosure isconsidered to include any one or more of a computer-readable medium or adistribution medium and other equivalents and successor media, in whichdata or instructions may be stored.

In an alternative embodiment, dedicated hardware implementations, suchas application specific integrated circuits, programmable logic arraysand other hardware devices, can be constructed to implement one or moreof the methods described herein. Applications that may include theapparatus and systems of various embodiments can broadly include avariety of electronic and computer systems. One or more embodimentsdescribed herein may implement functions using two or more specificinterconnected hardware modules or devices with related control and datasignals that can be communicated between and through the modules, or asportions of an application-specific integrated circuit. Accordingly, thepresent system encompasses software, firmware, and hardwareimplementations.

In accordance with various embodiments of the present disclosure, themethods described herein may be implemented by software programsexecutable by a computer system. Further, in an exemplary, non-limitedembodiment, implementations can include distributed processing,component/object distributed processing, and parallel processing.Alternatively, virtual computer system processing can be constructed toimplement one or more of the methods or functionality as describedherein.

Although the present specification describes components and functionsthat may be implemented in particular embodiments with reference toparticular standards and protocols, the invention is not limited to suchstandards and protocols. For example, standards for Internet and otherpacket switched network transmission (e.g., TCP/IP, UDP/IP, HTML, HTTP,HTTPS) represent examples of the state of the art. Such standards areperiodically superseded by faster or more efficient equivalents havingessentially the same functions. Accordingly, replacement standards andprotocols having the same or similar functions as those disclosed hereinare considered equivalents thereof.

A computer program (also known as a program, software, softwareapplication, script, or code) can be written in any form of programminglanguage, including compiled or interpreted languages, and it can bedeployed in any form, including as a standalone program or as a module,component, subroutine, or other unit suitable for use in a computingenvironment. A computer program does not necessarily correspond to afile in a file system. A program can be stored in a portion of a filethat holds other programs or data (e.g., one or more scripts stored in amarkup language document), in a single file dedicated to the program inquestion, or in multiple coordinated files (e.g., files that store oneor more modules, sub programs, or portions of code). A computer programcan be deployed to be executed on one computer or on multiple computersthat are located at one site or distributed across multiple sites andinterconnected by a communication network.

The processes and logic flows described in this specification can beperformed by one or more programmable processors executing one or morecomputer programs to perform functions by operating on input data andgenerating output. The processes and logic flows can also be performedby, and apparatuses can also be implemented as, special purpose logiccircuitry, e.g., an FPGA (field programmable gate array) or an ASIC(application specific integrated circuit).

As used in this application, the term “circuitry” or “circuit” refers toall of the following: (a) hardware-only circuit implementations (such asimplementations in only analog and/or digital circuitry) and (b) tocombinations of circuits and software (and/or firmware), such as (asapplicable): (i) to a combination of processor(s) or (ii) to portions ofprocessor(s)/software (including digital signal processor(s)), software,and memory(ies) that work together to cause an apparatus, such as amobile phone or server, to perform various functions) and (c) tocircuits, such as a microprocessor(s) or a portion of amicroprocessor(s), that require software or firmware for operation, evenif the software or firmware is not physically present.

This definition of “circuitry” applies to all uses of this term in thisapplication, including in any claims. As a further example, as used inthis application, the term “circuitry” would also cover animplementation of merely a processor (or multiple processors) or portionof a processor and its (or their) accompanying software and/or firmware.The term “circuitry” would also cover, for example and if applicable tothe particular claim element, a baseband integrated circuit orapplications processor integrated circuit for a mobile phone or asimilar integrated circuit in server, a cellular network device, orother network device.

Processors suitable for the execution of a computer program include, byway of example, both general and special purpose microprocessors, andanyone or more processors of any kind of digital computer. Generally, aprocessor receives instructions and data from a read only memory or arandom access memory or both. The essential elements of a computer are aprocessor for performing instructions and one or more memory devices forstoring instructions and data. Generally, a computer also includes, orbe operatively coupled to receive data from or transfer data to, orboth, one or more mass storage devices for storing data, e.g., magnetic,magneto optical disks, or optical disks. However, a computer need nothave such devices. Moreover, a computer can be embedded in anotherdevice, e.g., a mobile telephone, a personal digital assistant (PDA), amobile audio player, a Global Positioning System (GPS) receiver, to namejust a few. Computer readable media suitable for storing computerprogram instructions and data include all forms of non-volatile memory,media and memory devices, including by way of example semiconductormemory devices, e.g., E PROM, EEPROM, and flash memory devices; magneticdisks, e.g., internal hard disks or removable disks; magneto opticaldisks; and CD ROM and DVD-ROM disks. The processor and the memory can besupplemented by, or incorporated in, special purpose logic circuitry.

To provide for interaction with a user, embodiments of the subjectmatter described in this specification can be implemented on a devicehaving a display, e.g., a CRT (cathode ray tube) or LCD (liquid crystaldisplay) monitor, for displaying information to the user and a keyboardand a pointing device, e.g., a mouse or a trackball, by which the usercan provide input to the computer. Other kinds of devices can be used toprovide for interaction with a user as well; for example, feedbackprovided to the user can be any form of sensory feedback, e.g., visualfeedback, auditory feedback, or tactile feedback; and input from theuser can be received in any form, including acoustic, speech, or tactileinput.

Embodiments of the subject matter described in this specification can beimplemented in a computing system that includes a back end component,e.g., as a data server, or that includes a middleware component, e.g.,an application server, or that includes a front end component, e.g., aclient computer having a graphical user interface or a Web browserthrough which a user can interact with an implementation of the subjectmatter described in this specification, or any combination of one ormore such back end, middleware, or front end components. The componentsof the system can be interconnected by any form or medium of digitaldata communication, e.g., a communication network. Examples ofcommunication networks include a local area network (“LAN”) and a widearea network (“WAN”), e.g., the Internet.

The computing system can include clients and servers. A client andserver are generally remote from each other and typically interactthrough a communication network. The relationship of client and serverarises by virtue of computer programs running on the respectivecomputers and having a client-server relationship to each other.

The illustrations of the embodiments described herein are intended toprovide a general understanding of the structure of the variousembodiments. The illustrations are not intended to serve as a completedescription of all of the elements and features of apparatuses andsystems that utilize the structures or methods described herein. Manyother embodiments may be apparent to those of skill in the art uponreviewing the disclosure. Other embodiments may be utilized and derivedfrom the disclosure, such that structural and logical substitutions andchanges may be made without departing from the scope of the disclosure.Additionally, the illustrations are merely representational and may notbe drawn to scale. Certain proportions within the illustrations may beexaggerated, while other proportions may be minimized. Accordingly, thedisclosure and the figures are to be regarded as illustrative ratherthan restrictive.

While this specification contains many specifics, these should not beconstrued as limitations on the scope of the invention or of what may beclaimed, but rather as descriptions of features specific to particularembodiments of the invention. Certain features that are described inthis specification in the context of separate embodiments can also beimplemented in combination in a single embodiment. Conversely, variousfeatures that are described in the context of a single embodiment canalso be implemented in multiple embodiments separately or in anysuitable sub-combination. Moreover, although features may be describedabove as acting in certain combinations and even initially claimed assuch, one or more features from a claimed combination can in some casesbe excised from the combination, and the claimed combination may bedirected to a sub-combination or variation of a sub-combination.

Similarly, while operations are depicted in the drawings and describedherein in a particular order, this should not be understood as requiringthat such operations be performed in the particular order shown or insequential order, or that all illustrated operations be performed, toachieve desirable results. In certain circumstances, multitasking andparallel processing may be advantageous. Moreover, the separation ofvarious system components in the embodiments described above should notbe understood as requiring such separation in all embodiments, and itshould be understood that the described program components and systemscan generally be integrated together in a single software product orpackaged into multiple software products.

One or more embodiments of the disclosure may be referred to herein,individually and/or collectively, by the term “invention” merely forconvenience and without intending to voluntarily limit the scope of thisapplication to any particular invention or inventive concept. Moreover,although specific embodiments have been illustrated and describedherein, it should be appreciated that any subsequent arrangementdesigned to achieve the same or similar purpose may be substituted forthe specific embodiments shown. This disclosure is intended to cover anyand all subsequent adaptations or variations of various embodiments.Combinations of the above embodiments, and other embodiments notspecifically described herein, are apparent to those of skill in the artupon reviewing the description.

The Abstract of the Disclosure is provided to comply with 37 C.F.R.§1.72(b) and is submitted with the understanding that it will not beused to interpret or limit the scope or meaning of the claims. Inaddition, in the foregoing Detailed Description, various features may begrouped together or described in a single embodiment for the purpose ofstreamlining the disclosure. This disclosure is not to be interpreted asreflecting an intention that the claimed embodiments require morefeatures than are expressly recited in each claim. Rather, as thefollowing claims reflect, inventive subject matter may be directed toless than all of the features of any of the disclosed embodiments. Thus,the following claims are incorporated into the Detailed Description,with each claim standing on its own as defining separately claimedsubject matter.

It is intended that the foregoing detailed description be regarded asillustrative rather than limiting and that it is understood that thefollowing claims including all equivalents are intended to define thescope of the invention. The claims should not be read as limited to thedescribed order or elements unless stated to that effect. Therefore, allembodiments that come within the scope and spirit of the followingclaims and equivalents thereto are claimed as the invention.

What is claimed is:
 1. A method comprising: receiving a depth map of alocation in a path network; identifying, using a processor, a physicalstructure within the depth map; dividing the depth map, at the physicalstructure, into a horizontal plane at an elevation from a road level;and extracting a two-dimensional feature geometry from the horizontalplane using a linear regression algorithm, curvilinear regressionalgorithm, or a machine learning algorithm.
 2. The method of claim 1,further comprising: georeferencing points of the extracted featuregeometry to a geographic location, wherein each point is matched withlocation reference information selected from the group consisting of:latitude, longitude, elevation from the road level, altitude, andcombinations thereof.
 3. The method of claim 2, further comprising:encoding the georeferenced points of the extracted feature geometry in afingerprint database.
 4. The method of claim 1, wherein thetwo-dimensional feature geometry is a line or a set of connected lines,and the extracting uses the linear regression algorithm.
 5. The methodof claim 4, further comprising: georeferencing points of the line or theset of connected lines to a geographic location, wherein each point ismatched with location reference information for latitude, longitude,elevation from the road level, and altitude.
 6. The method of claim 1,wherein the two-dimensional feature geometry is an arc, and theextracting uses the curvilinear regression algorithm.
 7. The method ofclaim 6, further comprising: georeferencing a radius of the arc andpoints along the arc to a geographic location, wherein each point ismatched with location reference information for latitude, longitude,elevation from the road level, and altitude.
 8. The method of claim 1,wherein the two-dimensional feature geometry is a spline, and theextracting uses the curvilinear regression algorithm.
 9. The method ofclaim 8, further comprising: georeferencing knots of the spline andpoints along the spline to a geographic location, wherein each point ismatched with location reference information for latitude, longitude,elevation from the road level, and altitude.
 10. A method comprising:collecting, by an end-user device, a depth map at a location in a pathnetwork; identifying, using a processor of the end-user device, aphysical structure within the depth map; dividing the depth map, at thephysical structure, into a horizontal plane at an elevation from a roadlevel; and extracting a two-dimensional feature geometry from thehorizontal plane using a linear regression algorithm, a curvilinearregression algorithm, or a machine learning algorithm.
 11. The method ofclaim 10, further comprising: transmitting the extracted featuregeometry to an external processor; and receiving, from the externalprocessor, a geographic location of the end-user device through acomparison of the feature geometry and a database of feature geometriesfor the path network.
 12. An apparatus comprising: at least oneprocessor; and at least one memory including computer program code forone or more programs; the at least one memory and the computer programcode configured to, with the at least one processor, cause the apparatusto at least perform: receive a depth map of a location in a pathnetwork; identify a physical structure within the depth map; divide thedepth map, at the physical structure, into a horizontal plane at anelevation from a road level; and extract a two-dimensional featuregeometry from the horizontal plane using a linear regression algorithm,a curvilinear regression algorithm, or a machine learning algorithm. 13.The apparatus of claim 12, wherein the at least one memory and thecomputer program code are configured to cause the apparatus to furtherperform: georeference points of the extracted feature geometry to ageographic location, wherein each point is matched with locationreference information selected from the group consisting of: latitude,longitude, elevation from the road level, altitude, and combinationsthereof.
 14. The apparatus of claim 13, wherein the at least one memoryand the computer program code are configured to cause the apparatus tofurther perform: encode the georeferenced points of the extractedfeature geometry in a fingerprint database.
 15. The apparatus of claim12, wherein the two-dimensional feature geometry is a line or a set ofconnected lines, and the extracting uses the linear regressionalgorithm.
 16. The apparatus of claim 15, wherein the at least onememory and the computer program code are configured to cause theapparatus to further perform: georeference points of the line or the setof connected lines to a geographic location, wherein each point ismatched with location reference information for latitude, longitude,elevation from the road level, and altitude.
 17. The apparatus of claim12, wherein the two-dimensional feature geometry is an arc, and theextracting uses the curvilinear regression algorithm.
 18. The apparatusof claim 17, wherein the at least one memory and the computer programcode are configured to cause the apparatus to further perform:georeference a radius of the arc and points along the arc to ageographic location, wherein each point is matched with locationreference information for latitude, longitude, elevation from the roadlevel, and altitude.
 19. The apparatus of claim 12, wherein thetwo-dimensional feature geometry is a spline, and the extracting usesthe curvilinear regression algorithm.
 20. The apparatus of claim 19,wherein the at least one memory and the computer program code areconfigured to cause the apparatus to further perform: georeference knotsof the spline and points along the spline to a geographic location,wherein each point is matched with location reference information forlatitude, longitude, elevation from the road level, and altitude.